Development and placement accuracy evaluation of an MR conditional robot for prostate intervention.
Robot-assisted prostate intervention under magnetic resonance imaging (MRI) guidance is a promising method to improve the clinical performance compared with the manual method. An MR conditional 6-DOF prostate intervention serial robot is developed and a binocular vision system (BVS) is established t...
| Publicado en: | Medical & Biological Engineering & Computing Vol. 59; no. 5; pp. 1023 - 1035 |
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| Autores principales: | , , , , , |
| Formato: | Journal Article |
| Publicado: |
Springer Nature
May2021
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=150260074&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 150260074 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01400118 PO0 jtl: Medical & Biological Engineering & Computing issn: 01400118 maglogo: N pubinfo: dt: May2021 vid: 59 iid: 5 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 150260074 149822158 150260074 NLM33860444 10.1007/s11517-021-02347-5 NLM33860444 150260074 ppf: 1023 ppct: 12 formats: fmt: – @attributes: type: T – @attributes: type: P tig: atl: Development and placement accuracy evaluation of an MR conditional robot for prostate intervention. aug: au: Lin, Yuyang Shi, Yunlai Wang, Fugang Zhang, Jun Sun, Haichao Wu, Wenbo affil: State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, 210016, Nanjing, People's Republic of China sug: subj: Robotics Prostate Magnetic Resonance Imaging Algorithms Male Needles Scales Questionnaires Male ab: Robot-assisted prostate intervention under magnetic resonance imaging (MRI) guidance is a promising method to improve the clinical performance compared with the manual method. An MR conditional 6-DOF prostate intervention serial robot is developed and a binocular vision system (BVS) is established to evaluate the needle placement accuracy and located the penetration point precisely. The robot is designed by the MR conditional criteria. The serial configuration of the robot provides adequate flexibility and large workspace and excellent friendliness to the physicians. The kinematics are deduced and the needle placement control flow is proposed according to the configuration of the robot. The robot-assisted prostate intervention is divided into two phases including needle placement and needle penetration. A custom-made robust BVS is developed to obtain the needle tip position automatically in the needle placement phase where the needle cannot be detected by the MRI for lack of hydrogen atom. A simple and general algorithm used for needle tip camera coordinate estimation is proposed. Experiments on the BVS validation and robot accuracy evaluation are performed. The experiment results show that the errors of the BVS are under 0.3621 mm and the position error of the proposed robot is 2.815 mm which indicate the adequate accuracy for the prostate intervention. Graphical abstract. pubtype: Academic Journal doctype: Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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